Feature-Based Object Detection and Pose Estimation Based on 3D Cameras and CAD Models for Industrial Robot Applications

被引：1

作者：

Seppala, Tuomas ^{[1
]}

Saukkoriipi, Janne ^{[1
]}

Lohi, Taneli ^{[1
]}

Soutukorva, Samuli ^{[1
]}

Heikkila, Tapio ^{[1
]}

Koskinen, Jukka ^{[1
]}

机构：

[1] VTT Tech Res Ctr Finland Ltd, Oulu, Finland

来源：

2022 18TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA 2022) | 2022年

关键词：

Robotics; 3D cameras; CAD models; Object detection; RECOGNITION;

D O I：

10.1109/MESA55290.2022.10004402

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a feature-based object detection and pose estimation method. In this approach, a user selects geometric features from a CAD model of an object. The selected features are then matched against measured features from the 3D cameras. Software modules were developed for the method and were tested in a robot cell. Based on the results, our approach provides a fast way to configure and program the pose estimation system for new objects. Target applications of the approach are in small series and agile, even one-of- a-kind manufacturing.

引用

页数：5

共 50 条

[1] Corner-based 3D Object Pose Estimation in Robot Vision
Zhang, Lei
Guo, Zhiyang
Chen, Huilin
Shuai, Liguo
2016 8TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL. 2, 2016, : 363 - 368
[2] Robust object pose estimation from feature-based stereo
Laganiere, Robert
Gilbert, Sebastien
Roth, Gerhard
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2006, 55 (04) : 1270 - 1280
[3] Feature shape complexity: a new criterion for the simplification of feature-based 3D CAD models
Soonjo Kwon
Duhwan Mun
Byung Chul Kim
Soonhung Han
The International Journal of Advanced Manufacturing Technology, 2017, 88 : 1831 - 1843
[4] Feature shape complexity: a new criterion for the simplification of feature-based 3D CAD models
Kwon, Soonjo
Mun, Duhwan
Kim, Byung Chul
Han, Soonhung
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2017, 88 (5-8): : 1831 - 1843
[5] A Survey of 6D Object Detection Based on 3D Models for Industrial Applications
Gorschlueter, Felix
Rojtberg, Pavel
Poellabauer, Thomas
JOURNAL OF IMAGING, 2022, 8 (03)
[6] Surface-based General 3D Object Detection and Pose Estimation
Teng, Zhou
Xiao, Jing
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 5473 - 5479
[7] Correction to: Feature shape complexity: a new criterion for the simplification of feature-based 3D CAD models
Soonjo Kwon
Duhwan Mun
Byung Chul Kim
Soonhung Han
The International Journal of Advanced Manufacturing Technology, 2019, 103 : 1643 - 1644
[8] Feature-Based Monocular Dynamic 3D Object Reconstruction
Jin, Shaokun
Ou, Yongsheng
SOCIAL ROBOTICS, ICSR 2018, 2018, 11357 : 380 - 389
[9] Feature-based similarity search in 3D object databases
Bustos, B
Keim, DA
Saupe, D
Schreck, T
Vranic, DV
ACM COMPUTING SURVEYS, 2005, 37 (04) : 345 - 387
[10] Speckle Based Pose Estimation for 3D Measurement of the Feature-less Environment by Two Cameras
Higuchi, Hiroshi
Fujii, Hiromitsu
Taniguchi, Atsushi
Watanabe, Masahiro
Yamashita, Atsushi
Asama, Hajime
INTERNATIONAL WORKSHOP ON ADVANCED IMAGING TECHNOLOGY (IWAIT) 2020, 2020, 11515

← 1 2 3 4 5 →